Autonomous Soil Sampler

ABSTRACT

An autonomous soil sampling device. The device including a vehicle for generally autonomously navigating a given area for sampling and adapted with systems to generally avoid obstacles during maneuvering. The device including a soil sampling system designed for placement on a platform of the vehicle and including an extraction arm having a probe and auger to probe into the soil for extracting a quantity of soil. The extraction arm received on a housing and including a pair of rails to enable movement of the probe and auger and a collection bucket for depositing the quantity of extracted soil into a packaging assembly for collection, labeling, and storage of the individual samples.

CROSS REFERENCE TO RELATED APPLICATIONS

This application is a continuation-in-part of application Ser. No.15/829,194 filed 1 Dec. 2017 and issued as U.S. Pat. No. 10,801,927which claims priority to U.S. Provisional Patent Application No.62/428,856 filed 1 Dec. 2016 to the above named inventor, and is hereinincorporated by reference in its entirety.

FEDERALLY SPONSORED RESEARCH OR DEVELOPMENT

Not Applicable

SEQUENCE LISTING, A TABLE, OR A COMPUTER PROGRAM

Not Applicable

FIELD OF THE INVENTION

This invention relates generally to soil sampling techniques andequipment to facilitate accurate soil sampling in the agriculturalsetting.

BACKGROUND OF THE INVENTION

In the agriculture industry, it is known that accurate, reliable soilsampling has always been challenging. Soil testing is common andnecessary in the agricultural industry to determine the soil type andnutrient levels such that crop production can be maximized. Typically,soil testing requires that soil samples or specimens be taken in thefield, and then shipped off-site for laboratory analysis. A personnormally operates the soil sampling machine or vehicle and records thelocation where the samples are taken. The workers are usuallyinexperienced and tend to compromise the accuracy of the samples. Humanerror is prevalent. For example, the samples may be inconsistent insize, improperly packaged, taken from the incorrect location, orcomingled with other samples.

Soil sampling needs to be done in the exact same location year to yearto see how field nutrient values are changing. Typical soil samplingmethods use GPS technology but not automatically guided vehicles,therefore, the actual location year to year can very even hundreds offeet.

There exists a need to efficiently secure reliable, soil samples.Moreover, current soil sampling procedures take a long time to processat an off-site soil lab. Further, it is expensive and requires the useof toxic materials that are discarded as toxic waste. There is a desireto have the soil or tissue information as soon as possible, and thereexists a need to have certain data related to soil samples processed inconjunction with the soil sampling activity. Therefore, the primaryobjective of the present invention is the provision of an automaticsystem for accurately collecting soil samples in the field. Similarly, afurther objective is to conduct in field analysis of the soil samplesand transmit the data about the soil analysis to a remote site. Stillfurther, it is an objective to provide an automated soil sampling devicethat prevents cross contamination, provides a consistent extracted soilsample, and provides an automated packaging assembly.

SUMMARY OF THE INVENTION

This disclosure is directed to an autonomous, un-manned machine that iscapable of performing the typical tasks of soil sampling, such asdriving to the location, soil extraction, soil packaging, and labeling.In another exemplary embodiment, the soil sampler can carry out soildiagnostics of nutrients and physical characteristics. Alternately, thedevice of the present disclosure can be integrated within a mannedvehicle, wherein the sampling and driving continues autonomously but thesampled soil is placed into a container by an operator.

The autonomous soil sampler uses an auger to recover the desired amountof soil at the desired depth. The autonomous soil sampler has an augeron a probe that is mounted to a soil extraction arm to probe at least 12inches into the soil (a depth known to facilitate nitrate sampling). Inanother exemplary embodiment, the soil extraction arm can probe at least24 inches into the soil. The soil extraction arm is movable about thedevice to enable the transfer of sampled soil to a top of a packagingmachine assembly to be packaged and labeled. The samples of differentdepth for nitrate (for example) samples are packaged and labeleddifferently from other soil samples. The soil extraction arm includes anauger cleaning mechanism in the form of a cleaning collar to generallyscrape off the material that may be brought up by the auger afterprobing the soil. This helps ensure a quality sample is obtained withina sampling bucket and also cleans off the auger prior to obtaining thenext soil sample.

The packaging machine assembly uses a sealed form and fill concept.Notably, it uses a forming collar with a printing surface on a formingtube. The sealed and printed bags are then conveyed to a holding bin ofthe packaging machine assembly. The packaging machine assembly canadditionally utilize an integrated barcode reader to read pre-printedplastic in place of a printer. During packaging and assembly all of thesamples bags are generally maintained in a connection, wherein theassembly generally seals the individual soil samples within acompartment of a larger sample sleeve unwound from a reel. This samplecollection configuration helps to main sample organization.

The soil extraction arm may be mounted to the back of a platform orpositioned about a side of a vehicle and is generally movable about atrack to facilitate soil sampling. The soil sampling is taken as thesoil extraction arm moves from a stored position to a sampling positionadjacent to the soil surface. The bucket containing the soil sample canalso swivel or pivot about the extraction arm to allow for dumping intothe packager or alternately, the bucket is positioned in a fixedassembly and soil is extracted from the bucket through a vacuum system.The pivoting bucket is able to dump the soil sample in the packager forfurther processing. In yet another alternate embodiment, the bucket maybe removed from the extraction arm by the operator to facilitate manualdumping of the sampled soil into a container.

In another exemplary embodiment, the device includes a pair of samplingbuckets. The pair of sampling buckets adapted to independently collect asample from different depths.

In another exemplary embodiment, the soil sample from the bucket can bedirected into a soil analyzer. The analyzer can analyze and determinethe characteristics of the soil sample in real time. A computer systemcommunicatively coupled to the analyzer can record and transmit the datarecorded and relate the data to a specific location of the testedproperty. Additionally, the system can provide real-time updates as thesoil samples are taken and packaged allowing a user to monitor theprogress of the sampler. In one exemplary embodiment the sampler arm canenter into the exact same hole to bag or analyze different and separateprofiles of the soil (e.g. bag up 0-6″ differently than 0-12″ or12-24″). This allows for a layered analysis of the soil at the samplepoint.

In another exemplary embodiment, the sampler can still bag the samplesfrom the bucket and establish a queue to be analyzed by the analyzer asthe sampler collects additional samples. Samples that are analyzed canthen be discarded back into the field or re-bagged for further testing.This can allow for greater efficiency in the collection and analysisprocess.

In one embodiment, the platform can be a part of any all-terrain vehiclecommonly utilized as a multipurpose, rugged utility vehicle, such as aKubota RTV, a John Deere Gator, a Polaris Ranger, Kawasaki Mule, Bobcat3400 or a similar vehicle, such as a small tractor, that comprises a bedthat may be used to support the packaging machine assembly and the soilextraction arm. The soil sampler of this invention may also be apurpose-built vehicle that does not include seating for passengers. Thevehicle can include a generator rack to house a generator. The generatorrack can be moveable to allow easy access to the generator. Thegenerator can help power the soil extraction arm and packaging machineassembly of the device.

The autonomous soil sampler will detect if the bit or probe has becomeclogged, dirty, or is positioned on an object other than soil (such as acorn stalk) by using any known detection technique, such as an array oflasers or load cell. The autonomous soil sampler will also detect if thesoil container did not get filled for some reason. Detectinginsufficient soil filling will cause the machine to shut down and callfor a human operator to inspect the problem. The autonomous soil samplerwill also be able to detect rocks or other obstruction preventingadequate soil sampling, and in turn, probe in an alternate and differentlocation.

The autonomous soil sampler will be able to navigate through the routeand probe locations autonomously in a safe, predictable fashion. To thatend, the autonomous soil sampler comprises obstacle detection andobstacle avoidance software and hardware features. It has thecapabilities to detect potholes, ditches, humans, animals, roughpatches, mud holes, severe grade, etc. If the autonomous soil samplercannot plan a path around a certain obstacle, it will simply wait forthe obstacle to move or for a human operator to resolve the issue. Thesoil sampler will also have a specified operating boundary that itcannot leave. The obstacle avoidance and navigation systems aregenerally provided with various components to aid in this detection andavoidance, including, but not limited to two dimension (2D) or threedimensional (3D) LIDAR (Light Detection and Ranging) for locatingobjects that may be in the path of the vehicle during operation.

The autonomous soil sampler will also communicate with the auger if amud hole has been detected. It will then try probing in a different, butproximate, location to the originally desired testing location. Thesampler can also record such incidents when the sampler must take asample in an alternate but proximate location. This will allow a user totrack when the soil samples are not recorded in the desired position orif the sample was not properly obtained to ensure that future samplesare not affected or to correlate to previous samples taken.

Before entering each field, the operator can retrieve an image of thefield and overlay either a zone management map, soil map, yield map, orsimilar data input. This will then allow the operator to identify wherethe samples should be taken. The operator will then mark the outsideboundary of the field to designate the perimeter beyond which theautonomous soil sampler cannot travel. The operator will also mark outany known obstacles that could cause harm, damage, or restriction to theautonomous soil sampler or others. Any other obstacles will be detectedby the soil sampling machine while traveling on the route through thevarious detection systems. Maps or routes can also be loaded into thesampler remotely through cellular or wireless data communications.Alternately, the operator may choose to operate the vehicle without theautonomous navigation features and drive the vehicle to the desiredsampling locations.

All soil sampling components can be removed from the platform in anefficient manner, typically with customary equipment for handling heavyequipment, such as a forklift, or by using manpower. The platform canthen be used for other regular farm tasks. The platform may be modifiedfor the specific purpose of soil sampling. Moreover, the platform may bemodified or a purpose-built machine may be created to follow crop rowsto perform in-season soil or nitrate sampling.

The autonomous soil sampler can be used for various other applicationssuch as: a) autonomous cover crop seeding, b) nutrient analysis of thesoil (e.g. pH, H, P, K, OM, Mg, CA, etc.), c) physical soilcharacteristics of soil (e.g. filtration, compaction layers, CEC, etc.,d) autonomous in-season tissue sampling, e) “follow-m options” to followany other piece of equipment such as tiling, spraying, rock pick-up, f)autonomous field rock removal, g) un-manned and autonomous chemicalspraying, h) autonomous field topography, i) one-row corn planting forplanting the male row in seed corn production, and j) population counterfor plants that are just emerging out of the ground. In someembodiments, the soil sample can be tasked with doing multipleapplication in a single pass of the field to optimize efficiency. Inother embodiments, the soil sampler can take real-time measurements ofother factors while obtaining the soil samples.

In another embodiment of the present disclosure, the use of LIBS(Laser-Induced Breakdown Spectroscopy) or other forms of LA-ICP-MS(Laser Ablation Inductively Coupled Plasma Mass Spectrometry) may beimplemented on or off the platform to expand the capabilities beyond theautonomous soil sampler. The soil can be extracted the same way and thenpelletized or mixed with a paraffin or other solution. The pellets canthen be placed into an analytical system, such as a laser system, to beanalyzed. A soil container also has the capabilities to perform pHtesting.

For tissue sampling, the platform can navigate down crop rows andperform tissue sampling and nitrate testing at the same time. A tissuesampling arm can detect where the crop is located and retrieve a sampleof leaf tissue. The tissue will then be dropped into the LIBS machine toacquire a quantification of the elements.

The LIBS machine can also be placed in the back of a truck to manuallytest the soil or tissue, while the platform travels and retrieves neededsamples. These platforms for tissue sampling can be made small enough toperform plant analysis all through the growing season. The machine canalso use ISFET (ion-sensitive field-effect transistor) or ISE(ion-selective electrode) sensors to measure certain elements such asNitrate, Ammonium, P, K, etc.

Additionally, electrical conductivity, Raman Scattering, Lab on Valve(LOV), FIA (Flow injection Analysis), X-ray, Vibrational Spectroscopy,or other forms or spectrometry in addition to LIBS, ISE or ISFET sensorscan be provided on the autonomous soil sampler. The soil conditioningequipment can be mounted as well to prepare the sample for a certainnutrient measurement. These preparations can include drying, grinding,insertion Hydrogen peroxide, blending, homogenizing, inserting nutrientextractants, pelletizing, etc.

BRIEF DESCRIPTION OF THE SEVERAL VIEWS OF THE DRAWING(S)

The accompanying drawings are included to provide a furtherunderstanding of the present invention and are incorporated in andconstitute a part of this specification. The drawings illustrateexemplary embodiments of the present invention and together with thedescription serve to further explain the principles of the invention.Other aspects of the invention and the advantages of the invention willbe better appreciated as they become better understood by reference tothe Detailed Description when considered in conjunction withaccompanying drawings, and wherein:

FIG. 1 shows a wire frame of the systems of the autonomous soil samplingdevice, according to the present disclosure;

FIG. 2 shows an isometric side view of the sampling system and vehicle,according to the present disclosure;

FIG. 3 shows an isometric rear side view of the sampling system withholding bin, according to the present disclosure;

FIG. 4 shows an isometric view of the sampling system, according to thepresent disclosure;

FIG. 5 shows an isometric view of the sampling system, according to thepresent disclosure;

FIG. 6 shows an isometric rear side view of the sampling system withextraction arm inverted, according to the present disclosure;

FIG. 7 shows an isometric side view of the sampling system withgenerator, according to the present disclosure;

FIG. 8 shows a cross sectional view of the sampling system, according tothe present disclosure;

FIG. 9 shows an isometric bottom side view of the cleaning collar,according to the present disclosure; and

FIG. 10 shows an isometric view of a portion of the packaging assembly,according to the present disclosure.

DETAILED DESCRIPTION OF THE INVENTION

The following detailed description includes references to theaccompanying drawings, which form a part of the detailed description.The drawings show, by way of illustration, specific embodiments in whichthe invention may be practiced. These embodiments, which are alsoreferred to herein as “examples,” are described in enough detail toenable those skilled in the art to practice the invention. Theembodiments may be combined, other embodiments may be utilized, orstructural, and logical changes may be made without departing from thescope of the present invention. The following detailed description is,therefore, not to be taken in a limiting sense.

Before the present invention is described in such detail, however, it isto be understood that this invention is not limited to particularvariations set forth and may, of course, vary. Various changes may bemade to the invention described and equivalents may be substitutedwithout departing from the true spirit and scope of the invention. Inaddition, many modifications may be made to adapt a particularsituation, material, composition of matter, process, process act(s) orstep(s), to the objective(s), spirit or scope of the present invention.All such modifications are intended to be within the scope of thedisclosure made herein.

Unless otherwise indicated, the words and phrases presented in thisdocument have their ordinary meanings to one of skill in the art. Suchordinary meanings can be obtained by reference to their use in the artand by reference to general and scientific dictionaries.

References in the specification to “one embodiment” indicate that theembodiment described may include a particular feature, structure, orcharacteristic, but every embodiment may not necessarily include theparticular feature, structure, or characteristic. Moreover, such phrasesare not necessarily referring to the same embodiment. Further, when aparticular feature, structure, or characteristic is described inconnection with an embodiment, it is submitted that it is within theknowledge of one skilled in the art to affect such feature, structure,or characteristic in connection with other embodiments whether or notexplicitly described.

The following explanations of certain terms are meant to be illustrativerather than exhaustive. These terms have their ordinary meanings givenby usage in the art and in addition include the following explanations.

As used herein, the term “and/or” refers to any one of the items, anycombination of the items, or all of the items with which this term isassociated.

As used herein, the singular forms “a,” “an,” and “the” include pluralreference unless the context clearly dictates otherwise.

As used herein, the terms “include,” “for example,” “such as,” and thelike are used illustratively and are not intended to limit the presentinvention.

As used herein, the terms “preferred” and “preferably” refer toembodiments of the invention that may afford certain benefits, undercertain circumstances. However, other embodiments may also be preferred,under the same or other circumstances.

Furthermore, the recitation of one or more preferred embodiments doesnot imply that other embodiments are not useful, and is not intended toexclude other embodiments from the scope of the invention.

As used herein, the term “coupled” means the joining of two membersdirectly or indirectly to one another. Such joining may be stationary innature or movable in nature and/or such joining may allow for the flowof fluids, electricity, electrical signals, or other types of signals orcommunication between two members. Such joining may be achieved with thetwo members or the two members and any additional intermediate membersbeing integrally formed as a single unitary body with one another orwith the two members or the two members and any additional intermediatemembers being attached to one another. Such joining may be permanent innature or alternatively may be removable or releasable in nature.

It will be understood that, although the terms first, second, etc. maybe used herein to describe various elements, these elements should notbe limited by these terms. These terms are only used to distinguish oneelement from another. For example, a first element could be termed asecond element, and, similarly, a second element could be termed a firstelement without departing from the teachings of the disclosure.

Referring now to FIGS. 1-10, the autonomous soil sampler of the presentdisclosure is generally referred to as device 10. The device 10 isgenerally comprised of a vehicle 100 and a soil sampling assembly 200received on the vehicle 100.

The vehicle 100 is generally adapted as an autonomous, un-manned machinethat is capable of driving to a designated location for various soilextraction, sampling, packaging, and other diagnostics of nutrients andphysical characteristics of a given quantum of soil. Although in thepreferred configuration the vehicle 100 is autonomous, the vehicle couldbe driven by an operator for sampling. The vehicle 100 includes aplatform 101 generally providing a base for the placement of thesampling assembly 200 of the device 10. In one embodiment, the platform101 can be a part of any all-terrain vehicle 100 commonly utilized as amultipurpose, rugged utility vehicle, such as a Kubota RTV, a John DeereGator, a Polaris Ranger, Kawasaki Mule, Bobcat 3400 or a similarvehicle, such as small tractor, that comprises a bed forming theplatform 101 that may be used to support the soil sampling assembly 200and having traction members 110 contacting the ground surface forgenerally moving the vehicle 100. To that end, the vehicle 100 includesa controller 102 coupled with and adapted to control various systems toaid in the autonomous driving and operation of the vehicle 100,including, but not limited to, obstacle detection and obstacle avoidancesoftware and hardware features 103, navigational and positioningsoftware and hardware features 104, including a GPS (Global PositioningSystem), wherein the vehicle 100 systems have the capability to detectpot holes, ditches, humans, animals, rough patches, mud holes, severegrade, etc. Accordingly, if the vehicle 100 controller 102 and systemscannot plan a path or navigate around a certain obstacle, it will simplywait for the obstacle to move or for a human operator to resolve theissue. Alternately, the vehicle 100 and device 10 can be driven andmanipulated by the operator to specific sampling locations, wherein theoperator may override certain controller 102 features and systems toenable this manual operation.

The device 10 vehicle 100 will likely have a specified operatingboundary that it cannot leave. Before the device 10 enters a givenfield, the operator can retrieve an image of the field and overlayeither a zone management map, soil map, yield map, or similar data inputallowing the operator to generally provide the locations an in input 105to the controller 102 to direct the device 10 to navigate autonomouslyto prepare the various sampling tasks. The operator may further input105 the outside boundary of the field to designate the perimeter beyondwhich the autonomous soil sampler device 10 cannot travel. The operatorwill also input 105 any known obstacles that could cause harm, damage,or restriction to the autonomous device 10 or others for use by thecontroller 102 and obstacle avoidance system 103. Any other obstacleswill likely be detected by the device 10 while traveling on the route.Maps or routes can also be loaded into the autonomous vehicle systemsand controller 102 of the device 10 remotely through cellular orwireless data communications.

The obstacle avoidance system 103 may utilize light detection andranging (LIDAR) systems from either a two dimensional (2D) or threedimensional (3D) pulse scan. Accordingly, the information detectedthrough a LIDAR system may then be utilized by the obstacle avoidancesystem 103 to communicate through the controller 102 to other systems ofthe device 10 that an object may need to be avoided. Optionally, whendriven by an operator, the vehicle 100 obstacle avoidance system 103 maybe disabled.

The controller 102 is coupled to the additional systems of the device togenerally control and operate the function of these systems, including,but not limited to, the vehicle 100, the soil system 200, a generator300, an extraction arm 400, a bucket 500, a packaging assembly 600, anda transfer system 700.

The platform 101 of the vehicle 100 allows the soil sampling system 200to be utilized in an efficient manner and for alternate uses.Accordingly, the soil sampling system 200 generally functions as astand-alone unit that can be adapted for easy removal and installationonto the vehicle 100. Due to the size and weight of the soil samplingsystem 200 it is likely that the system 200 will need to be lifted withcustomary equipment for handling heavy equipment, such as a forklift, orby using manpower from multiple individuals. The platform 101 can thenbe used for other regular farm tasks when the system 200 is not presenton the platform 101. Alternately, the platform 101 may be modified forthe specific purpose of soil sampling with an integrated soil samplingsystem 200 or wherein the system 200 is provided in a purpose-builtmachine adapted to follow crop rows to perform in-season soil or nitratesampling.

The soil sampling system 200 is generally provided in a housing 201forming a frame and generally including a structure allowing for thesecuring and of the various mechanisms of the system 200. The housing201 including a rack 210 sized and configured for the placement of agenerator 300. The generator 300 generally a stand-alone generator as isknown in the art and capable of providing an electrical current to thesampling system 200 to power the various mechanisms of the system 200.

The soil sampling system 200 generally utilizes an auger 403 to recovera desired amount of soil at a predetermined desired depth for sampling.The auger 403 is provided in assembly adapted to selectively rotate theauger 403 in a clockwise and counter-clockwise direction relative to asurface a given sample is desired to be extracted from. The auger 403 ispositioned on a probe 410. The probe 410 movable along a height of thesoil extraction arm 400 along a first rail of a pair of rails 404extending along the height of the extraction arm 400, wherein the probe410 is generally adapted to move the auger 403 to a given depth ofpenetration for generally extracting a quantum of soil for sampling. Theextraction arm 400 having a first end 401 and a second end 402 opposedthe first end 401, the distance between the first end 401 and the secondend 402 defining the height of the extraction arm 400. Accordingly, theprobe 410 is adapted to manipulate the auger 403 within the extractionarm 400 along the height to a depth of at least 12 inches into the soil(a depth known to facilitate nitrate sampling). In another exemplaryembodiment, the probe 410 is adapted to manipulate the auger 403 to adepth of at least 24 inches into the soil.

The soil extraction arm 400 is positioned on the housing 201 andincluding the pair of linear rails 404 perpendicular to the housing 201wherein the extraction arm 400 may be in a fixed position along thehousing 201 or alternately capable of traversing a horizontal distanceof the housing 201 generally parallel to the surface being sampledthrough movement of the pair of linear rails 404. Accordingly, theextraction arm 400 is capable movable to a transport position, asampling position, and a packaging position, wherein the arm 400 may bemoved both horizontally about the housing 201 parallel to the surfacebeing sampled and downward and upward about the pair of linear rails 404generally perpendicular to the surface to accommodate certain tasks atthese positions. The soil extraction arm 400 includes the pair of linearrails 404 positioned on the housing 201 and generally aligned at a sideof the vehicle 100 platform 101 to be movable into a close proximitywith the soil surface to be sampled with the second end 402 positionedadjacent to the surface for sampling. In one embodiment, the soilextraction arm 400 sampling position enables soil sampling throughmovement of the probe 410 about one rail of the pair of linear rails 404perpendicular to the surface to be sampled and movement of the bucket500 about a second rail of the pair of rails 404 perpendicular to thesurface to be sampled and positioned adjacent the probe 410 to receivean aliquot of sampled soil.

Accordingly, the sampling bucket 500 is movably received about thesecond rail of the pair of rails 404 of the extraction arm 400 andmovable along the extraction arm height and generally adapted to collectthe extracted soil for sampling. The sampling bucket 500 having a firstend 501 and a second end 502, the first end 501 and second end 502 incommunication with a sidewall to generally define the shape of thebucket and forming a cavity with an interior and having a volume withinthe interior of the sampling bucket 500 for the placement of extractedsoil. The first end 501 and the second end 502 of the sampling bucket500 each having a central aperture in alignment with each other and theauger 403 positioned on the probe 410, wherein the auger 403 passesthrough the interior of the sampling bucket 500 for contacting theground surface and depositing extracted soil within the sampling bucket500 interior.

In an alternate embodiment, the device 10 may be provided with a pair ofsampling buckets 500. The pair of sampling buckets 500 generallyfunctioning and placed similar to a configuration with a single samplingbucket. The pair of sampling buckets 500 provided to allow for thesampling of soil at a common extraction from multiple depths.Accordingly, a first sampling bucket 500 may receive a quantity of soilup to a first depth and a second sampling bucket may receive a secondquantity of soil up to a second depth.

The first end 501 of the sampling bucket 500 is aligned with a cleaningcollar 510. The cleaning collar 510 positioned adjacent to the first end501 aligned with the central aperture on an exterior of the samplingbucket 500 and generally operating as a cleaning mechanism to generallyscrape the auger 403 of collected material that may be brought up by theauger 403 after probing the soil. This cleaning collar 510 helps ensurea quality sample is obtained within the sampling bucket 500 and alsocleans off the auger 403 prior to obtaining the next soil sample.

In one embodiment, as shown in FIG. 9, the cleaning mechanism of thecleaning collar 510 is provided through the use of a bearing 5102 movingrotationally along with the auger 403 that includes a pair of removablenubs 5101 movably received perpendicular to the auger 403. The nubs 5101are adapted for adjustment and generally sized for receipt within thehelical groove, sometimes referred to as a flute, of the auger 403.Preferably, the nubs 5101 are constructed out of a plastic material andadapted for adjustment and replacement as they wear during use.Accordingly, the nubs 5101 can be adjusted in proximity to the helicalgroove of the auger 403 to remove more or less material from the auger403 or adjusted to accommodate varying types of soils being extracted.

A sealing means 511 is positioned in a movable coupling with the firstend 501 of the sampling bucket 500 and positioned between the collar 510and first end 501 to close the first end 501 of the bucket 500 to enabletransport of the sampled soil to the packaging assembly 600. Preferably,the sealing means 511 is a pair of plates 512 in a hinged coupling andmovable from an open position adapted to allow for passage of the auger403 to a closed position to generally seal the extracted soil within thesampling bucket 500. Accordingly, the sampling bucket 500 second end 502is coupled to the transfer system 700 through at least one hose 701 in acoupling with the second end 502 between the bucket 500 and packagingassembly 600.

The transfer system 700 most generally configured as a means to transferthe sampled soil from the bucket 500 to the packaging assembly 600.Preferably, the transfer system 700 is a vacuum system to draw soil intothe packaging assembly 600. Alternately, the transfer system 700 mayutilize a combined blowing/vacuum system to create a zero pressuredifferential at the bucket 500 to prevent the introduction of unwanteddebris into the packaging assembly 600. Still alternately, the transfersystem 700 may be a mechanical means or operator transfer.

The packaging assembly 600 is generally positioned within the housing201 and adapted to generally allow for the placement of a soil samplecollected within the bucket 500 into a separate container, in the formof a package 607, for collection and analysis. Preferably the packagingassembly 600 utilizes a sealed form and fill concept thought the use ofa reel 601, a forming collar 602, a forming tube 603, a gripper 604, andsealing member 605 in a coupling with the package 607. The package 607preferably a plastic film, such as, but not limited to low densitypolyethylene film. Preferably, the package 607 is polyethylene tubingroll. The packaging assembly 600 further adapted to allow for packagingand labeling of samples. Although the reel and roll assembly forpackaging is preferred, the package 607 can be any container utilized tostore soil, such as, but not limited to, containers, bags, boxes,envelopes, or other similar items.

The reel 601 allows for the placement of the package 607 in a generallyrolled configuration and aligned with an interior of the forming collar602 and advanced through the forming tube 603 and positioned within thegripper 604 and sealing member 605, wherein the sealing member 605 andgripper 604 work in concert to generally seal and advance the package607 through the collar 602 and tube 603 for the placement of individualsamples. Accordingly, the samples are generally individually sealed inthe package 607 in a sausage-like configuration for placement within aholding bin 606. Accordingly, this assembly maintains the individualsoil samples in a connection within an individualized compartment of alarger sample sleeve. This sample collection configuration helps to mainsample organization.

The package 607 is provided with a printing surface on an exteriorportion for generally receiving an identifying mark from a printer. Thesealed and printed sample compartments of the package 607 are thenconveyed to the holding bin 606.

The packaging machine assembly 600 can additionally utilize anintegrated barcode reader to read pre-printed compartments of package607 or formed bags in place of a printer.

The forming collar 602 positioned within the housing 201, wherein thebucket transfer system 700 at least one hose 701 is an alignment withthe forming collar 602 for placement of the sample. The package 607generally assembled from a sheet, wherein the gripper 604 advances thepackage 607 over the collar 602 where the sheet is sealed bothvertically and horizontally through the sealing member 605 to allow forplacement of the sample.

The gripper 604 is adapted to move or advance the package 607 throughthe collar 602 and off of the reel 601. Accordingly, the gripper 604 ispositioned below the reel 601 and having a pair of jaws to grip thepackage 607 and move the package 607 through the forming tube 603.Preferably the gripper 604 is positioned below the forming collar 602and movable in a direction perpendicular to the ground surface.

In an alternate embodiment, the packaging assembly 600 can be replacedby the operator, wherein the bucket 500 can be accessed manually by theoperator after sampling and transferred to a separate bag or containeras the package 607 and labelled. In this alternate configuration, thebucket 500 is movable along the second rail of the pair of linear rails404 and positioned adjacent to a cab of the vehicle 100 the device 10 isplaced upon, wherein the operator can access the bucket 500 from withinthe cab for manual collection.

In yet another alternate embodiment, the packaging assembly 600 can bereplaced with a soil analyzer, wherein the bucket 500 and transfersystem 700 can move the soil sample directly into the soil analyzer fordirect analysis. The analyzer can analyze and determine thecharacteristics of the soil sample in real time. A computer systemcommunicatively coupled to the analyzer can record and transmit the datarecorded and relate the data to a specific location of the testedproperty. Additionally, the system can provide real-time updates as thesoil samples are taken and packaged allowing a user to monitor theprogress of the sampler. In one exemplary embodiment the sampler auger403 can enter into the exact same hole to bag or analyze different andseparate profiles of the soil (e.g. bag up 0-6″ differently than 0-12″or 12-24″). This allows for a layered analysis of the soil at the samplepoint.

In another alternate embodiment, the packaging assembly 600 can stillbag the samples from the bucket 500 and establish a queue to be analyzedby the analyzer as the sampler collects additional samples. Samples thatare analyzed can then be discarded back into the field or re-bagged forfurther testing. This can allow for greater efficiency in the collectionand analysis process.

The autonomous soil sampler 10 can be used for various otherapplications such as: a) autonomous cover crop seeding, b) nutrientanalysis of the soil (e.g. pH, H, P, K, OM, Mg, CA, etc.), c) physicalsoil characteristics of soil (e.g. filtration, compaction layers, CEC,etc., d) autonomous in-season tissue sampling, e) “follow-m options” tofollow any other piece of equipment such as tiling, spraying, rockpick-up, f) autonomous field rock removal, g) un-manned and autonomouschemical spraying, h) autonomous field topography, i) one-row cornplanting for planting the male row in seed corn production, and j)population counter for plants that are just emerging out of the ground.In some embodiments, the soil sampler 10 can be tasked with doingmultiple application in a single pass of the field to optimizeefficiency. In other embodiments, the soil sampler 10 can take real-timemeasurements of other factors while obtaining the soil samples.

In another embodiment of the present disclosure, the use of LIBS(Laser-Induced Breakdown Spectroscopy) or other forms of LA-ICP-MS(Laser Ablation Inductively Coupled Plasma Mass Spectrometry) may beimplemented on or off the platform 101 to expand the capabilities beyondthe autonomous soil sampler 10. The soil can be extracted the same waywith the auger 403 and arm 400 and then pelletized or mixed with aparaffin or other solution. The pellets can then be placed into ananalytical system, such as a laser system, to be analyzed. An additionalsoil container also has the capabilities to perform pH testing.

For tissue sampling, the device 10 can navigate down crop rows andperform tissue sampling and nitrate testing at the same time. A tissuesampling arm can detect where the crop is located and retrieve a sampleof leaf tissue. The tissue will then be dropped into the LIBS machine toacquire a quantification of the elements.

The LIBS machine can also be placed in the back of a truck or a similarvehicle to manually test the soil or tissue, while the device 10 travelsand retrieves needed samples. These additions for tissue sampling can bemade small enough to perform plant analysis all through the growingseason. The machine can also use ISFET (ion-sensitive field-effecttransistor) or ISE (ion-selective electrode) sensors to measure certainelements such as Nitrate, Ammonium, P, K, etc.

Additionally, electrical conductivity, Raman Scattering, Lab on Valve(LOV), FIA (Flow injection Analysis), X-ray, Vibrational Spectroscopy,or other forms or spectrometry in addition to LIBS, ISE or ISFET sensorscan be provided on the autonomous soil sampler 10. The soil conditioningequipment can be mounted to the platform 101 and coupled with thevarious systems as well to prepare the sample for a certain nutrientmeasurement. These preparations can include drying, grinding, insertionHydrogen peroxide, blending, homogenizing, inserting nutrientextractants, pelletizing, etc.

While the invention has been described with reference to an exemplaryembodiment(s), it will be understood by those skilled in the art thatvarious changes may be made and equivalents may be substituted forelements thereof without departing from the scope of the invention. Inaddition, many modifications may be made to adapt a particular situationor material to the teachings of the invention without departing from theessential scope thereof. Therefore, it is intended that the inventionnot be limited to the particular embodiment(s) but that the inventionwill include all embodiments falling with the scope of the appendedclaims.

1. An autonomous soil sampling device, the device providing for theautomated collection of a soil sample from a surface, the devicecomprising: a vehicle, the vehicle adapted as an autonomous machinecapable of maneuvering to a designated location, the vehicle including:a platform; at least one traction member, the at least one tractionmember contacting the surface for moving the vehicle; a navigation andpositioning system; and a soil sampling system, the soil sampling systempositioned on the platform, the system including: a housing, the housingforming a frame; an extraction arm, the extraction arm received on thehousing and having a pair of opposed ends, the distance between the endsdefining a height, the extraction arm including: a probe, the probemovable along the height of the extraction arm; and an auger, the augerin communication with the probe and adapted for rotation, wherein theauger is directed into the surface for extracting a quantity of soil; abucket, the bucket movable along the height of the extraction arm, thebucket including: a cavity, the cavity configured to receive thequantity of soil; and a cleaning collar, the cleaning collar received onan end of the bucket, the cleaning collar in communication with theauger to clean the auger of the collected quantity of soil; a packagingassembly, the packaging assembly adapted to receive the quantity of soilfrom the bucket into a container; and a transfer system coupled betweenthe bucket and the packaging assembly, the transfer system configured tomove the quantity of soil from the bucket to the packaging assembly; anda controller, the controller in selective communication with thenavigation and positioning system, the soil sampling system, theextraction arm, the bucket, the transfer system, and the packagingassembly, wherein the controller directs the movement and operation ofthe device.
 2. The device as in claim 1, wherein the extraction arm iscapable of traversing a horizontal distance of the housing.
 3. Thedevice as in claim 1, wherein the controller includes an input, theinput allowing an operator of the device the ability to input parametersfor use by the navigation and positioning system.
 4. The device as inclaim 3, wherein the input allows the operator to input parameters foruse by the obstacle avoidance system.
 5. The device as in claim 1,wherein the transfer system is a vacuum.
 6. The device as in claim 1,wherein the packaging assembly includes a printer, the printer adaptedto place an identifying mark on the container.
 7. The device as in claim1, wherein the packaging assembly includes a bar code reader.
 8. Thedevice as in claim 1, wherein the assembly includes a soil analyzer, thesoil analyzer in communication with the controller and adapted todetermine characteristics of the soil sample in real time.
 9. The deviceas in claim 1, wherein the soil sampling system includes a generator,the generator in communication with the soil sample system to providepower to the soil sampling system.
 10. The device as in claim 1, whereinthe cleaning collar includes a replaceable nub, the nub in communicationwith a groove of the auger and movable perpendicular to a length of theauger for selective engagement within the groove.
 11. An autonomous soilsampling device, the device providing for the automated collection of asoil sample from a surface, the device adapted for placement on avehicle, the device comprising: a housing, the housing forming a frame;an extraction arm, the extraction arm movably received on the housingand having a pair of opposed ends, the distance between the endsdefining a height, the extraction arm including: a probe, the probemovable along the height of the extraction arm; and an auger, the augerin communication with the probe and adapted for rotation, wherein theauger is directed into the surface for extracting a quantity of soil; abucket, the bucket movable along the height of the extraction arm, thebucket including: a cavity, the cavity configured to receive thequantity of soil; and a cleaning collar, the cleaning collar received onan end of the bucket, the cleaning collar in communication with theauger to clean the auger of the collected quantity of soil; a transfersystem, the transfer system configured to move the collected soil to apackaging assembly; the packaging assembly, the packaging assemblyadapted to receive the quantity of soil from the transfer system; and acontroller, the controller in communication with the extraction arm, thebucket, and the packaging assembly, wherein the controller directs themovement and operation of the device.
 12. The device as in claim 11,wherein the extraction arm is capable of traversing a horizontaldistance of the housing.
 13. The device as in claim 11, wherein thepackaging assembly includes: a package, the package positioned toreceive the soil from the bucket; and a holding bin; the holding binhaving an interior to receive the package.
 14. The device as in claim11, wherein the packaging assembly includes a printer, the printeradapted to place an identifying mark on the package.
 15. The device asin claim 11, wherein the packaging assembly includes a bar code reader.16. The device as in claim 11, wherein the assembly includes a soilanalyzer, the soil analyzer in communication with the controller andadapted to determine characteristics of the soil sample in real time.17. The device as in claim 11, wherein the soil sampling system includesa generator, the generator in communication with the soil sample systemto provide power to the soil sampling system.
 18. The device as in claim11, wherein the cleaning collar includes a replaceable nub, thereplaceable nub in communication with a groove of the auger and movableperpendicular to a length of the auger for selective engagement withinthe groove.
 19. The device as in claim 11, wherein the transfer systemis a vacuum.